48 lines
1.7 KiB
Python
48 lines
1.7 KiB
Python
#
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# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
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# property and proprietary rights in and to this material, related
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# documentation and any modifications thereto. Any use, reproduction,
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# disclosure or distribution of this material and related documentation
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# without an express license agreement from NVIDIA CORPORATION or
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# its affiliates is strictly prohibited.
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#
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# Third Party
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import torch
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# CuRobo
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from curobo.geom.sdf.world import WorldCollisionConfig, WorldPrimitiveCollision
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from curobo.geom.types import WorldConfig
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from curobo.rollout.cost.primitive_collision_cost import (
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PrimitiveCollisionCost,
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PrimitiveCollisionCostConfig,
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)
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from curobo.types.base import TensorDeviceType
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from curobo.util_file import get_world_configs_path, join_path, load_yaml
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def test_primitive_collision_cost():
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tensor_args = TensorDeviceType()
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world_file = "collision_test.yml"
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data_dict = load_yaml(join_path(get_world_configs_path(), world_file))
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world_cfg = WorldConfig.from_dict(data_dict)
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coll_cfg = WorldPrimitiveCollision(
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WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType())
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)
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cost_cfg = PrimitiveCollisionCostConfig(
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weight=1.0,
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tensor_args=tensor_args,
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world_coll_checker=coll_cfg,
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use_sweep=False,
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classify=False,
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)
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cost = PrimitiveCollisionCost(cost_cfg)
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q_spheres = torch.as_tensor(
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[[0.1, 0.0, 0.0, 0.2], [10.0, 0.0, 0.0, 0.1]], **(tensor_args.as_torch_dict())
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).view(-1, 1, 1, 4)
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c = cost.forward(q_spheres).flatten()
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assert c[0] > 0.0 and c[1] == 0.0
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